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Pose Estimation of Unmanned Aerial Vehicles Based on a Vision-Aided Multi-Sensor Fusion

Abdi, Ghasem and Samadzadegan, Farhad and Kurz, Franz (2016) Pose Estimation of Unmanned Aerial Vehicles Based on a Vision-Aided Multi-Sensor Fusion. In: XXII ISPRS Congress, Technical Commission I, XLI-B6, pp. 193-199. ISPRS Congress, 12.-19.Juli 2016, Prag. DOI: 10.5194/isprsarchives-XLI-B6-193-2016

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Official URL: http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLI-B6/193/2016/isprs-archives-XLI-B6-193-2016.pdf


GNSS/IMU navigation systems offer low-cost and robust solution to navigate UAVs. Since redundant measurements greatly improve the reliability of navigation systems, extensive researches have been made to enhance the efficiency and robustness of GNSS/IMU by additional sensors. This paper presents a method for integrating reference data, images taken from UAVs, barometric height data and GNSS/IMU data to estimate accurate and reliable pose parameters of UAVs. We provide improved pose estimations by integrating multi-sensor observations in an EKF algorithm with IMU motion model. The implemented methodology has demonstrated to be very efficient and reliable for automatic pose estimation. The calculated position and attitude of the UAV especially when we removed the GNSS from the working cycle clearly indicate the ability of the purposed methodology.

Item URL in elib:https://elib.dlr.de/103817/
Document Type:Conference or Workshop Item (Poster)
Title:Pose Estimation of Unmanned Aerial Vehicles Based on a Vision-Aided Multi-Sensor Fusion
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Abdi, Ghasemghasem.abdi (at) ut.ac.irUNSPECIFIED
Samadzadegan, Farhadfarhad.samadzadegan (at) dlr.deUNSPECIFIED
Kurz, Franzfranz.kurz (at) dlr.deUNSPECIFIED
Date:July 2016
Journal or Publication Title:XXII ISPRS Congress, Technical Commission I
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.5194/isprsarchives-XLI-B6-193-2016
Page Range:pp. 193-199
Series Name:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Keywords:Estimation, GNSS/INS, Multi-Sensor Fusion, Navigation, UAV
Event Title:ISPRS Congress
Event Location:Prag
Event Type:international Conference
Event Dates:12.-19.Juli 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Kurz, Dr.-Ing. Franz
Deposited On:08 Apr 2016 15:17
Last Modified:31 Jul 2019 20:01

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